bot_demo_ekf2.ps

有关kalman滤波及其一些变形滤波算法

16 4 16 5 17 4 16 4 17 4 17 3 17 3 17 3 
18 2 17 3 18 1 17 2 18 1 18 1 18 0 18 0 
18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 
18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 
18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 
18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 
18 0 17 0 18 0 18 0 18 0 18 0 18 0 18 0 
18 0 17 0 18 0 3687 1974 100 MP stroke
18 0 18 0 18 0 18 0 18 0 3597 1974 6 MP stroke
DA
/c8 { 0.000000 0.000000 1.000000 sr} bdef
c8
-8 -2 6 3 -6 -18 12 -9 -2 -30 14 -30 6 -4 -20 -4 
4 -14 -7 -22 -1 -5 -11 -13 -1 -22 -19 -8 -2 -8 -2 -21 
-3 -30 9 2 8 -9 -3 -10 1 -16 9 -27 6 -27 -8 -29 
-11 -4 27 -19 -10 2 -7 18 -3 -34 3 2 0 -6 -1 -22 
-11 -5 -13 -8 12 -19 -9 17 -1 -18 -6 -13 5 -22 7 4 
1 7 0 -7 5 -28 2 -32 -5 -2 -11 10 -8 -10 5 -22 
-8 -16 -6 8 10 -21 -1 -14 11 -11 8 -11 -5 -4 5 -22 
-6 12 1 -23 9 -12 -2 -10 -3 6 -3 -19 3 -12 -1 -20 
0 6 1 0 5 -29 -5 2 -2 -14 4 -17 3 -20 -1 -14 
8 -2 -11 6 0 1 21 -22 -10 -1 -10 -2 14 -7 2 -13 
-6 -10 2 -25 7 4 -2 -9 -15 0 22 -38 3 -16 -3 -10 
2 2 -1 9 7 -13 -4 11 7 -7 18 -31 6 -2 2 11 
-6 -1 8 -6 -10 19 2011 3319 100 MP stroke
2 -22 7 -11 2 -44 20 -35 4 -24 1 -24 -12 -17 -1 -6 
-10 -9 -6 -16 -10 -2 -2 -26 -3 -28 -29 2 4 -20 -9 -2 
2 -16 -23 5 -26 5 -10 -16 6 -22 -18 3 -19 -1 -4 -11 
-31 7 2 -12 6 -12 -21 -2 -18 -2 -5 -7 -15 -3 4 -13 
-43 10 -56 14 -44 7 -33 3 -17 -5 -19 -2 -13 -3 -6 -4 
-16 -3 -30 5 -5 -3 -3 -3 -14 -3 -34 9 -17 1 -43 6 
-21 4 -4 1 -12 -4 -18 -2 -51 2 -33 -6 3 0 -22 0 
-20 -2 -42 4 -7 -6 -8 4 -24 2 -4 -6 -54 2 -12 -9 
-16 1 10 -7 -24 -1 5 -8 -27 2 -20 -1 -29 -9 -51 0 
-4 -5 -14 7 -24 4 -6 2 2 -3 17 -2 -44 17 -28 -6 
-14 -3 14 0 -37 4 -25 5 -23 5 8 -6 -27 -9 -4 -11 
6 -11 -7 -8 1 -2 -16 4 -1 -12 -21 6 -8 -3 -45 -3 
-27 -3 -54 6 -20 1 3498 3736 100 MP stroke
2 -6 -15 11 -9 0 -26 -6 -17 0 8 1 -14 10 -36 0 
-9 11 -22 -12 -38 7 -4 -8 -15 -5 -28 3 -14 -3 -15 0 
-23 -4 -24 -4 -26 0 -3 10 -7 -4 -31 9 -20 -2 -44 -5 
-18 -11 -41 11 -18 -3 -14 -14 -42 -4 -47 -5 -22 -4 -73 0 
6 8 -5 7 -19 -1 -47 11 -35 -13 -20 5 -21 -1 -24 -17 
-34 -7 0 7 -9 -6 -22 -4 -17 8 -21 -6 -25 -3 -16 3 
-9 -1 -7 0 -42 -2 -14 15 -24 7 -31 -10 -20 -2 11 -10 
-26 1 -6 -2 -16 6 -18 4 -6 4 -18 13 -6 -7 -12 1 
-41 1 -9 2 4 6 -13 2 -17 14 -11 18 -2 13 2 19 
12 17 -15 2 -3 8 -19 9 6 9 -1 10 -6 10 -28 9 
-19 3 10 9 1 11 -8 25 -16 23 9 15 -18 13 -14 21 
-9 1 16 10 4 -6 -48 -3 -12 -10 -20 8 -7 27 4 21 
6 36 -31 12 -6 6 5055 3384 100 MP stroke
-33 26 -3 -1 -3 8 -3 4 -6 16 2 6 21 0 19 18 
1 17 1 16 -1 22 -1 21 -15 14 12 16 0 13 -27 11 
18 8 5 5 20 0 -10 -5 14 2 8 3 4 15 -16 27 
1 8 -3 12 -22 10 -8 16 -3 -5 5 19 8 12 8 -6 
-2 -2 23 12 12 10 2 -3 -6 29 9 5 5 5 10 23 
-11 29 -18 3 -9 25 12 13 -1 5 -5 3 -6 23 3 5 
28 17 -18 14 5 16 4 23 7 9 -6 -4 -1 14 -3 20 
10 -15 -13 6 1 34 14 -7 -3 25 9 2 0 37 -7 0 
1 -1 -8 -11 -8 9 5 -2 -24 40 -7 21 -13 9 0 15 
11 0 -16 10 -4 -12 -4 18 -23 12 15 -4 3 12 23 2 
0 20 21 12 -11 4 8 -3 -23 47 -22 22 -14 1 -13 37 
-7 3 -3 -9 19 22 2 29 7 -6 4 -4 -11 -12 9 20 
22 16 -3 32 -1 15 5082 2316 100 MP stroke
-7 20 4 -4 -19 29 -9 33 -6 -12 2 9 18 -22 3 2 
-14 16 27 -27 16 10 20 -1 -10 24 -2 19 13 -4 21 8 
-1 13 16 16 -18 45 -1 24 45 -5 20 -6 -7 16 12 26 
32 2 11 14 75 -30 14 4 57 -46 39 -4 63 -34 57 -46 
18 -29 76 -23 52 -28 -86 103 -55 86 -44 64 -45 78 44 -18 
154 -117 96 -28 144 -101 -113 113 -28 40 113 -77 74 -44 178 -121 
-69 92 55 -38 144 -118 -58 47 -59 68 -107 125 -59 59 18 -4 
-39 47 -1 27 -9 16 -20 15 0 21 -16 2 -10 14 12 -8 
3 20 -5 12 -5 15 0 12 83 -36 21 -5 -15 15 -17 18 
-14 21 55 -21 6 2 -16 15 49 -32 30 -8 31 -3 72 -35 
50 3 21 -4 0 25 133 -81 55 -48 -16 43 -39 46 19 3 
4 7 97 -31 11 13 61 -27 -2 8 178 -76 -100 64 -148 102 
-73 54 -125 108 -56 -19 3903 1784 100 MP stroke
206 -175 22 -30 46 -10 -110 210 3739 1789 5 MP stroke
DD
/c9 { 1.000000 0.000000 0.000000 sr} bdef
c9
-1 -11 -1 -11 -2 -12 -1 -11 -1 -11 -1 -11 -1 -11 -1 -11 
-2 -12 -1 -11 -1 -11 -1 -11 -2 -12 -1 -11 -1 -11 -1 -11 
-2 -11 -1 -12 -1 -11 -2 -11 -1 -11 -1 -11 -1 -11 -1 -12 
-1 -11 -1 -11 -2 -11 -1 -11 -1 -11 -1 -11 -1 -11 0 -10 
-1 -11 -1 -11 -1 -11 -1 -11 -1 -10 0 -11 -1 -11 -1 -10 
0 -11 -1 -10 -1 -10 0 -11 -1 -10 0 -10 -1 -11 0 -20 
-1 -10 0 -30 -1 -10 0 -68 1 -10 0 -47 1 -9 0 -37 
1 -9 0 -36 1 -8 0 -86 -1 -9 0 -8 -1 -8 0 -9 
-1 -8 -1 -8 -1 -8 -1 -8 -2 -8 -1 -8 -2 -9 -3 -8 
-2 -8 -3 -8 -3 -8 -4 -8 -4 -7 -5 -8 -5 -8 -6 -8 
-6 -8 -6 -8 -8 -8 -7 -8 -9 -8 -8 -8 -10 -7 -9 -8 
-11 -8 -10 -8 -11 -7 -12 -8 -12 -7 -12 -8 -13 -7 -13 -7 
-13 -7 -13 -7 -14 -7 2321 3549 100 MP stroke
-14 -7 -15 -7 -14 -6 -15 -7 -15 -6 -15 -6 -16 -6 -15 -6 
-16 -6 -15 -5 -16 -6 -16 -5 -16 -5 -16 -5 -16 -4 -16 -5 
-16 -4 -16 -4 -16 -4 -16 -3 -16 -4 -17 -3 -16 -3 -16 -3 
-16 -3 -16 -3 -17 -3 -16 -2 -17 -3 -16 -2 -17 -2 -16 -2 
-17 -2 -17 -2 -16 -2 -17 -1 -17 -2 -17 -2 -17 -1 -17 -2 
-17 -1 -17 -1 -17 -1 -17 -2 -17 -1 -17 -1 -17 -1 -17 0 
-17 -1 -17 -1 -17 -1 -17 0 -18 -1 -17 0 -17 -1 -17 0 
-17 -1 -17 0 -18 0 -17 -1 -17 0 -17 -1 -18 0 -17 -1 
-18 0 -17 0 -17 -1 -18 0 -18 -1 -17 0 -18 -1 -18 0 
-17 0 -18 -1 -18 0 -18 -1 -17 0 -18 0 -18 0 -18 -1 
-18 0 -18 0 -18 0 -18 -1 -18 0 -19 0 -18 0 -18 -1 
-19 0 -18 0 -18 0 -19 0 -18 -1 -19 0 -19 0 -18 0 
-19 0 -19 0 -18 -1 4005 3730 100 MP stroke
-19 0 -19 0 -19 0 -19 0 -19 0 -19 0 -18 0 -19 0 
-19 1 -19 0 -19 0 -18 1 -19 0 -18 1 -19 1 -18 0 
-18 1 -18 1 -18 1 -18 1 -17 2 -18 1 -17 2 -17 2 
-17 2 -16 2 -17 2 -16 2 -16 3 -16 3 -16 2 -15 4 
-15 3 -15 3 -15 4 -14 4 -15 4 -13 4 -14 5 -13 5 
-13 5 -13 5 -13 5 -12 6 -12 6 -11 6 -12 7 -11 6 
-10 7 -11 7 -10 7 -10 8 -9 7 -10 8 -9 8 -9 8 
-8 9 -9 8 -8 9 -8 9 -7 9 -8 9 -7 10 -7 9 
-6 10 -7 9 -6 10 -7 10 -5 10 -6 10 -6 11 -5 10 
-5 10 -5 11 -5 10 -4 11 -5 11 -4 11 -3 10 -4 11 
-4 11 -3 11 -3 11 -3 12 -2 11 -3 11 -2 11 -2 11 
-2 12 -2 11 -2 11 -1 11 -1 11 -2 12 -1 11 -1 11 
-1 11 0 11 -1 11 5045 3108 100 MP stroke
-1 12 0 11 -1 11 0 76 1 11 0 11 1 11 0 11 
1 11 0 11 1 10 0 11 1 11 1 11 1 10 0 11 
1 11 1 10 1 11 1 10 0 11 1 10 1 11 1 10 
0 10 1 11 1 10 0 10 1 10 0 10 1 10 0 10 
1 10 0 10 1 10 0 29 1 10 0 28 1 10 0 19 
1 9 0 9 1 10 0 9 1 9 0 9 1 10 1 9 
1 9 1 9 1 9 2 9 1 9 2 9 2 9 2 9 
2 9 2 9 3 8 2 9 3 9 4 9 3 8 4 9 
4 9 4 8 4 9 5 8 5 9 5 8 6 8 6 9 
6 8 6 8 7 9 8 8 7 8 8 8 9 8 8 9 
9 8 10 8 10 8 10 8 11 8 11 8 11 7 12 8 
12 8 12 8 12 7 13 8 13 8 13 7 14 7 13 8 
14 7 14 7 14 7 4659 2082 100 MP stroke
14 7 14 7 14 7 15 7 14 7 15 6 15 7 14 6 
15 7 15 6 15 6 14 6 15 6 15 6 15 5 14 6 
15 5 14 6 15 5 14 5 15 5 14 5 14 5 14 5 
14 4 15 5 13 4 14 5 14 4 14 4 14 4 13 4 
14 4 14 4 13 4 13 4 14 3 13 4 14 4 13 3 
13 4 14 3 13 3 13 4 13 3 14 3 13 4 13 3 
13 3 14 3 13 4 13 3 13 3 13 3 13 3 13 3 
13 3 13 3 13 3 13 3 13 3 13 3 13 3 13 3 
3777 1799 65 MP stroke
/c10 { 0.000000 1.000000 0.000000 sr} bdef
c10
-1 -11 -2 -11 -1 -11 -1 -12 -1 -11 -1 -11 -1 -11 -2 -11 
-1 -12 -1 -11 -1 -11 -2 -11 -1 -11 -1 -12 -1 -11 -2 -11 
-1 -11 -1 -12 -2 -11 -1 -11 -1 -11 -1 -11 -1 -11 -2 -11 
-1 -11 -1 -12 -1 -11 -1 -11 -1 -11 -1 -11 -1 -11 -1 -11 
-1 -10 -1 -11 -1 -11 -1 -11 0 -10 -1 -11 -1 -11 -1 -10 
0 -11 -1 -10 -1 -11 0 -10 -1 -10 0 -10 -1 -11 0 -10 
-1 -10 0 -20 -1 -10 0 -190 1 -9 0 -105 -1 -9 0 -16 
-1 -9 0 -9 -1 -9 -1 -8 0 -21 -1 -10 -1 -10 -2 -6 
-1 -10 -3 -6 -2 -9 -2 -10 -4 -6 -2 -12 -5 -7 -6 -6 
-9 -1 -7 -7 -8 -3 -10 -5 -9 -5 -10 -5 -11 -4 -10 -6 
-13 -5 -13 -6 -14 -5 -12 -6 -12 -7 -13 -7 -16 -5 -14 -7 
-14 -7 -15 -7 -13 -7 -17 -7 -15 -9 -16 -7 -15 -7 -15 -8 
-15 -8 -15 -11 -17 -3 2463 3555 100 MP stroke
-16 -5 -14 -6 -14 -7 -15 -6 -15 -6 -15 -6 -14 -8 -14 -6 
-14 -7 -12 -9 -10 -9 -12 -7 -11 -8 -12 -7 -16 -3 -11 -7 
-9 -8 -15 -4 -16 -3 -21 0 -18 0 -14 -5 -15 -2 -17 -2 
-16 -2 -16 -2 -14 -3 -15 -2 -17 -2 -18 0 -16 -1 -16 -2 
-16 -2 -16 -1 -16 -1 -16 -1 -16 -1 -17 -1 -16 -1 -16 -1 
-17 -1 -17 -1 -15 -1 -16 -1 -15 -2 -15 -1 -19 0 -17 0 
-15 -1 -17 -1 -16 0 -16 -1 -17 0 -19 0 -17 0 -17 0 
-17 -1 -17 0 -17 -1 -17 0 -17 0 -17 -1 -17 -1 -17 0 
-18 0 -17 -1 -18 0 -17 -1 -18 0 -17 0 -18 -1 -18 0 
-17 0 -18 -1 -17 0 -19 0 -17 0 -19 -1 -18 0 -18 0 
-18 0 -18 -1 -18 0 -18 0 -19 0 -18 0 -19 -1 -18 0 
-19 0 -18 0 -19 0 -19 0 -19 -1 -18 0 -19 0 -18 0 
-19 0 -19 0 -20 0 4098 3731 100 MP stroke
-19 0 -19 0 -19 0 -19 1 -19 0 -18 0 -19 1 -18 0 
-19 1 -18 0 -18 1 -19 1 -18 1 -17 1 -18 1 -18 1 
-18 2 -17 1 -17 2 -18 2 -16 2 -17 2 -16 3 -16 2 
-16 3 -16 3 -15 3 -15 3 -16 3 -14 4 -15 4 -14 4 
-14 4 -14 5 -13 5 -13 5 -13 5 -13 5 -12 6 -11 6 
-12 6 -11 7 -11 6 -10 7 -11 7 -10 8 -10 7 -10 8 
-9 8 -9 8 -8 8 -8 9 -8 8 -8 9 -8 9 -8 9 
-7 10 -8 9 -7 10 -7 10 -7 9 -6 10 -6 10 -5 10 
-6 10 -6 10 -5 11 -6 10 -5 11 -5 11 -4 10 -4 11 
-4 11 -4 11 -3 11 -4 11 -3 11 -2 11 -3 11 -3 11 
-2 11 -3 11 -2 12 -2 11 -2 11 -2 12 -2 11 -1 11 
-1 11 -1 11 -2 12 0 11 -1 11 -1 11 -1 11 0 11 
-1 11 0 22 -1 11 5048 3041 100 MP stroke
0 22 1 11 0 33 1 11 0 11 1 10 0 11 1 11 
1 11 0 10 1 11 1 11 0 10 1 11 1 11 1 10 
1 11 0 10 1 11 1 10 1 10 0 11 1 10 1 10 
0 10 1 10 0 10 1 11 0 9 1 10 0 10 1 10 
0 30 1 9 0 39 1 9 0 9 1 9 0 10 1 9 
0 9 1 9 0 10 1 9 1 10 0 9 1 9 2 10 
2 8 1 8 2 9 2 9 2 10 2 8 3 8 3 9 
2 9 3 9 4 8 3 10 3 8 4 10 4 8 5 8 
5 9 4 9 6 7 6 8 6 8 6 9 7 8 7 8 
7 8 8 8 8 8 8 9 9 8 10 7 9 8 10 8 
10 8 10 9 10 8 9 11 11 8 10 9 10 10 9 10 
13 7 16 4 8 11 14 7 18 3 15 7 13 6 12 8 
8 9 7 10 4 11 4650 2049 100 MP stroke
11 7 23 3 16 5 7 9 10 7 4 9 16 5 17 5 
15 5 28 2 18 5 17 6 22 5 12 5 18 5 11 4 
16 5 18 6 14 4 16 5 14 5 13 0 15 6 13 3 
15 5 15 6 12 -2 15 4 15 5 13 4 14 -1 13 1 
14 4 14 4 13 7 15 1 15 1 15 2 14 0 14 3 
13 3 19 1 15 4 13 3 12 4 14 3 13 4 17 1 
12 4 14 4 9 7 17 1 -2 14 3 9 10 5 12 2 
16 0 9 7 17 -1 23 -7 13 -7 3791 1823 62 MP stroke
SO
gr

c10
0 j
-41 71 -41 -71 82 0 1751 4111 4 MP
0 sg
DP
gs 899 389 5363 4228 MR c np
gr

-41 71 -41 -71 82 0 5326 941 4 MP
DP
gs 899 389 5363 4228 MR c np
gr

2261  294 mt 
(Filtering and smoothing result with 2nd order EKF) s
 882 4659 mt 
( ) s
6245  431 mt 
( ) s
1 sg
0 772 1573 0 0 -772 959 1221 4 MP
PP
-1573 0 0 772 1573 0 0 -772 959 1221 5 MP stroke
4 w
DO
SO
6 w
0 sg
 959  449 mt 2532  449 L
 959 1221 mt 2532 1221 L
2532 1221 mt 2532  449 L
 959 1221 mt  959  449 L
 959 1221 mt 2532 1221 L
 959 1221 mt  959  449 L
 959  449 mt 2532  449 L
 959 1221 mt 2532 1221 L
2532 1221 mt 2532  449 L
 959 1221 mt  959  449 L
1424  583 mt 
(Real trajectory) s
gs 959 449 1574 773 MR c np
358 0 1030 540 2 MP stroke
gr

1424  730 mt 
(EKF2 estimate) s
gs 959 449 1574 773 MR c np
DA
c8
358 0 1030 687 2 MP stroke
SO
gr

c8
0 sg
1424  878 mt 
(ERTS estimate) s
gs 959 449 1574 773 MR c np
DD
c9
358 0 1030 835 2 MP stroke
SO
gr

c9
0 sg
1424 1025 mt 
(ETF estimate) s
gs 959 449 1574 773 MR c np
DD
c10
358 0 1030 982 2 MP stroke
SO
gr

c10
0 sg
1424 1172 mt 
(Positions of sensors) s
gs 959 449 1574 773 MR c np
gs 1136 1056 147 147 MR c np
-41 71 -41 -71 82 0 1168 1153 4 MP
DP
gr

gr


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